diff --git a/.gitattributes b/.gitattributes
index 1fc29a64470c0b8b99d1331fba29009cc3e2e8ff..a325262af437ceaa4dbfeb540c1b21af582de464 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2988,3 +2988,5 @@ dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b
dataset/desktop_supplies/electronic_accessories/1ee3974965df527084ac3b303dfa0d7b/presenter_clicker_006.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mesh/mouse_022.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/electronic_accessories/3bcfa42f887753b0863cc6e51ca5967e/mouse_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/charging_cable_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/charging_cable_006.urdf b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/charging_cable_006.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/charging_cable_006.usd b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/charging_cable_006.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/charging_cable_006.usd
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.glb b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.glb
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.mtl b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.mtl
new file mode 100644
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+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.mtl
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a8a7bb5be29a7a818c4e820210250c22c4c089
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4983cb5e05c2d07604b78e0aeb61d62731cf20aa
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006_collision.obj
@@ -0,0 +1,5260 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3dd6fc0694c5c90f2e33e5582e0f9d7da0bef93
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/charging_cable_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a54458b4036a0b535fe8b19a6fe3687946fe696d8b5f580a3f581217ef5abb
+size 8621921
diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a68ba34d3c8a9dcdc1faa20fbfb9db1c7948c06
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl charging_cable_006_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a54458b4036a0b535fe8b19a6fe3687946fe696d8b5f580a3f581217ef5abb
+size 8621921
diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/charging_cable_006.xml b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/charging_cable_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b81bff4a7296f965523aa3df3bdf3df1b72e61f5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/charging_cable_006.xml
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b5816387080fa10c539ab454430925ee76d379
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006.obj
@@ -0,0 +1,44236 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl charging_cable_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50cbb181e3550008ef39b6139dfdafb483770319
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision.obj
@@ -0,0 +1,5260 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46fa6a60894a030df76a65ff91833a3ef98210e0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb7c2aadace46bcde03e2d6080d329798db2bc5f
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9633e007247a4e43c71ad52685e6b2c6dd8a4b6e
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_10.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08041401d93f587a4403daa02644e59743fbad3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_2.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a74b069d0f8cdd35280fb87a933070522e7eba03
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_3.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bbf37e81962906831edefa77930ab0e2a1ab357
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_4.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6748b2a22d1c190699bf755097b277d7a8c96d59
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_5.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..effb4897ed08b0315d9a135aa7aaf51a70004eec
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_6.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7752ff75074334aa2d865232f57eeadd997ca3c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_7.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..173728dece07eee4220384138ca4e6ccd4c8ea13
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_8.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1eead1e24144106f8206123d9085110b8feb23c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_collision_9.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3dd6fc0694c5c90f2e33e5582e0f9d7da0bef93
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/mjcf/mesh/charging_cable_006_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8621921
diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3dd6fc0694c5c90f2e33e5582e0f9d7da0bef93
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+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8621921
diff --git a/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/video.mp4 b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/video.mp4
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index 0000000000000000000000000000000000000000..82ac03a237e83deaca7599ffa8d7f4108cc5281a
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+++ b/dataset/desktop_supplies/electronic_accessories/43f8b2574f6853d3951a7108722766a3/video.mp4
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+version https://git-lfs.github.com/spec/v1
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